Request for more features

IsabelParedes commented 11 months ago

Here is a list of features which still need to be implemented. This issue will be used to discuss any changes and the overall direction of the project. At the moment, only ROS 2 Humble is supported.

rmw_wasm_cpp and wasm_cpp

[ ] Quality of service $\rightarrow$ currently it only uses default values. The user should be able to modify these and the middleware implementation should support the various settings.
[ ] Message serialization $\rightarrow$ not yet implemented
[ ] Wait sets $\rightarrow$ not yet implemented
[ ] Events $\rightarrow$ partial implementation
[ ] Parameters $\rightarrow$ not implemented
[ ] Message data conversion $\rightarrow$ messages are converted from ROS message to YAML strings to (optionally) JSON and back, there is probably a more efficient way.

wasm_js

[x] Move to https://github.com/ros2wasm/wasm_js (this should be a separate package)
[x] Convert to a standalone JS package
[ ] Publish

test_wasm

[ ] Move to https://github.com/ros2wasm/ros2wasm-test (this should also be separate)
[ ] Once removed, the ros2wasm-builder action must be updated or the build workflow will fail

Other

[ ] Documentation and demos should be here: https://github.com/ros2wasm/ros2wasm-website/
[ ] Package and make a first release (maybe with RoboStack?)
[ ] Test middleware with Iron $\rightarrow$ create separate branches for humble and iron, and add a build test for iron
[ ] Create guide to set up a dev environment for contributors

Tobias-Fischer commented 9 months ago

Hi @ihuicatl,

I got around playing with the ROS-WASM stack a little, very cool :).

I am stuck trying to build ros-humble-examples-rclcpp-minimal-publisher using Michael's workflow. I am wondering whether it might be (partly) because of the incomplete implementation here.

Specifically, my build fails with the following linker errors (and a bunch more probably unrelated to here):

error: undefined symbol: rmw_publisher_get_network_flow_endpoints (referenced by root reference (e.g. compiled C/C++ code))
warning: _rmw_publisher_get_network_flow_endpoints may need to be added to EXPORTED_FUNCTIONS if it arrives from a system library
error: undefined symbol: rmw_publisher_wait_for_all_acked (referenced by root reference (e.g. compiled C/C++ code))
warning: _rmw_publisher_wait_for_all_acked may need to be added to EXPORTED_FUNCTIONS if it arrives from a system library
error: undefined symbol: rmw_subscription_get_content_filter (referenced by root reference (e.g. compiled C/C++ code))
warning: _rmw_subscription_get_content_filter may need to be added to EXPORTED_FUNCTIONS if it arrives from a system library
error: undefined symbol: rmw_subscription_get_network_flow_endpoints (referenced by root reference (e.g. compiled C/C++ code))
warning: _rmw_subscription_get_network_flow_endpoints may need to be added to EXPORTED_FUNCTIONS if it arrives from a system library
error: undefined symbol: rmw_subscription_set_content_filter (referenced by root reference (e.g. compiled C/C++ code))
warning: _rmw_subscription_set_content_filter may need to be added to EXPORTED_FUNCTIONS if it arrives from a system library

I don't yet understand quite enough of what needs doing, but will we need to implement these methods here?

Best, Tobi

Tobias-Fischer commented 9 months ago

/cc @mbatc

IsabelParedes commented 9 months ago

Hi @Tobias-Fischer ! Yes, you're on the right track. Those methods still need to be implemented.

IsabelParedes commented 9 months ago

Moved wasm_js to its own repo https://github.com/ihuicatl/rmw_wasm/pull/10

ros2wasm / rmw_wasm